Improve lane creation in RNDF for Drake

[Agustin Alba Chicar]

Based on this issue: https://bitbucket.org/ignitionrobotics/ign-rndf/issues/2/add-a-tag-as-exit-or-entry-to-waypoints we need to improve the creation of the lanes. Currently we're making a lane each two consecutive waypoints. For example:

RNDF_name   sample
num_segments    1
num_zones   0
format_version  1.0
segment 1
num_lanes   1
segment_name    s1
lane    1.1
num_waypoints   3
lane_width  13
1.1.1   9.999982    65.000912
1.1.2   10.000045   65.000912
1.1.3   10.000841   65.000912
end_lane
end_segment
end_file 

We have the following logic connection:

1.1.1 ----> 1.1.2 ----> 1.1.3

Current code creates:

• l1: 1.1.1 to 1.1.2
• l2: 1.1.2 to 1.1.3

And it should create:

• l1: 1.1.1 to 1.1.3

[Agustin Alba Chicar]

Issue #130 was marked as a duplicate of this issue.

[Agustin Alba Chicar]

In d95973c, Waypoints add the following methods:

• IsEntry()
• IsExit()

Those allow us to cut the RNDF Lanes into bigger pieces reducing the creation of Maliput Lanes and Branchpoints.

[Agustin Alba Chicar]

@caguero this has been already merged and working. You can see their specific call here.

Basically, based on the waypoint information we create an intermediate class that has meaningful information regarding the waypoint and the path (spline) of the lane. The required methods are used to cut the lanes.

[Carlos Agüero]

Excellent!